EP2608186A2 - Trailer backing path prediction using GPS and camera images - Google Patents
Trailer backing path prediction using GPS and camera imagesDownload PDFInfo
- Publication number
- EP2608186A2 EP2608186A2EP12198548.5AEP12198548AEP2608186A2EP 2608186 A2EP2608186 A2EP 2608186A2EP 12198548 AEP12198548 AEP 12198548AEP 2608186 A2EP2608186 A2EP 2608186A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- trailer
- vehicle
- backing
- backing path
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000000034methodMethods0.000claimsabstractdescription39
- 230000000712assemblyEffects0.000claimsdescription9
- 238000000429assemblyMethods0.000claimsdescription9
- 238000010586diagramMethods0.000description1
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Classifications
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Definitions
- the present disclosurerelates to automotive vehicles and more particularly to advance driver assistance programs for automotive vehicles.
- a method of controlling a vehicle and trailer assemblycomprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly.
- the imageis displayed on a display screen for the backing system.
- a location on the displayed imageis selected to indicate a desired final position for the vehicle and trailer assembly.
- An intended backing path of the traileris determined with the trailer backing system based upon the desired final position of the vehicle and trailer assembly and a predicted backing path of the trailer is determined with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer.
- the predicted backing path of the trailer and the intended backing path of the trailerare displayed on the display screen to assist the operator in steering the vehicle.
- a method of controlling a vehicle and trailer assemblycomprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly.
- the imageis displayed on a display screen for the trailer backing system.
- a location on the displayed imageis selected to indicate a desired final position for the vehicle and trailer assembly.
- An intended backing pathis determined with the trailer backing system based upon the desired final position of the vehicle and trailer assembly.
- the backing path of the traileris displayed on the display screen.
- a method of controlling a vehicle and trailer assemblycomprises obtaining an image for a current position of the vehicle and trailer assembly from of a camera mounted to one of a vehicle and a trailer for the vehicle and trailer assembly.
- the imageis displayed on a display screen for the backing system.
- a predicted backing path of the traileris determined with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer.
- the predicted backing path of the traileris displayed on the display screen to assist the operator in steering the vehicle.
- FIG. 1is a schematic diagram of a trailer backing system of the present invention
- FIG. 2is a schematic illustration of the backing system for the vehicle and trailer of Figure 1 ;
- FIG. 3is a schematic illustration of another embodiment of the backing system for the vehicle and trailer of Figure 1 .
- Figure 1illustrates a vehicle 10 and a trailer 11.
- the trailer 11is controllably secured to the vehicle 10 to form a vehicle and trailer assembly 12.
- the vehicle and trailer assembly 12utilizes a trailer backing system 14 of the present invention.
- the trailer backing system 14provides the vehicle operator with an arrangement for defining a trailer 11 backing path 18.
- the trailer backing system 14utilizes the trailer backing path 18 to control movement of vehicle and trailer assembly 12 along the trailer backing path 18 or to assist the driver in controlling movement while backing the vehicle and trailer assembly 12.
- an electronic input device 16is electronically connected to the vehicle 10 and the trailer backing system 14.
- the input device 16may include at least one camera mounted to the vehicle 10 or trailer 11, such as indicated by input device 16'.
- the input device 16may be a navigation or GPS unit for the vehicle 10.
- the trailer backing system 14includes a control unit 22 within the vehicle 10.
- the control unit 22may be connected to at least one vehicle system 24 such as a powertrain system, a steering system and/or a braking system to control and direct movement of the vehicle and trailer assembly 12.
- the control unit 22may send instructions to the vehicle systems 24 to move the vehicle and trailer assembly 12 along the trailer backing path 18 to a final location 20.
- the steering, braking, and other controlsare calculated by the control unit 22 based upon the trailer backing path 18 input by the vehicle operator.
- the control unit 22may utilize data from the vehicle system 24 to predict the movement of the vehicle and trailer assembly 12 while the vehicle operator controls the vehicle and trailer assembly 12.
- the electronic input device 16includes an input control mechanism 26 and a display screen 28.
- the electronic input device 16may be all or partially incorporated into the vehicle 10.
- the electronic input device 16may include a control panel and touch screen already within the vehicle 10, e.g. part of a navigation system or entertainment unit.
- the input control mechanism 26is used for inputting directions into the trailer backing system 14.
- the input control mechanism 26may be a joystick, knob, slider device, physical buttons, or virtual "touch screen” buttons, which allows control of an "on screen” locator 40.
- the display screen 28may illustrate an image of an area located behind the vehicle and trailer assembly 12 obtained from the camera or GPS system.
- the input control mechanism 26may be manipulated to move the "on screen” locator 40 on the display screen 28 to select a final vehicle position 20.
- the display screen 28 of the electronic input device 16shows an image of the vehicle and trailer assembly 12.
- the imagemay be a pre-captured overhead view of the location obtained by the GPS system based upon the current vehicle location.
- a schematic representation of the vehicle and trailer assembly 12can be shown on the display screen 28 over the image at the appropriate position to represent the current vehicle location.
- a vehicle operatorwould use the input control mechanism 26 to select a desired final position for the vehicle and trailer assembly 12 on the image shown of the display screen 28.
- the backing system 14may correlate the selected final position in the image to GPS coordinates that represent that location.
- An intended trailer backing path 18can be calculated by using the GPS coordinates of the vehicle and trailer assembly 12 current position and the final position 20.
- the intended trailer backing path 18would include the suggested backing route and a final parking position 20.
- Determining the intended trailer backing path 18may include having the trailer backing system 14 identify objects in the image that correspond to permanent obstacles in the area, or outlined driving areas, i.e. the edges of the road, driveway, parking lot, etc.
- the intended trailer backing path 18may be plotted to avoid any obstacles and stay within outlined driving area. The operator may be able to adjust the intended trailer backing path 18 as necessary or further define any obstacles.
- the vehicle operatorwould instruct the trailer backing system 14 to follow the intended trailer backing path 18.
- the trailer backing system 14would send instructions to the vehicle systems 24 to direct the vehicle and trailer assembly 12 to move the trailer 11 along the intended trailer backing path 18 to the final position 20.
- the backing system 14may also further instruct at least one vehicle system 24 to direct the vehicle and trailer assembly 12 to move the trailer 11 along the intended trailer backing path 18 to the final vehicle and trailer assembly 12 position.
- a method of controlling a vehicle and trailer assembly 12comprises obtaining an image for the current position of the vehicle and trailer assembly 12 from a GPS system 24 for the vehicle and trailer assembly 12. The image is displayed on the display screen 28 for the trailer backing system 14. A location on the displayed image 28 is selected to indicate the desired final position 20 for the vehicle and trailer assembly 12. The intended trailer backing path 18 is determined by the trailer backing system 14 based upon the desired final position 20 of the vehicle and trailer assembly 12. The intended trailer backing path 18 is displayed on the display screen 28.
- the trailer backing system 14may obtain data from the vehicle systems 24.
- the datamay include information regarding the vehicle and trailer assembly 12 including, but not limited to an instantaneous steering angle for the vehicle, a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer 11.
- a predicted trailer backing path 18'may be shown on the image on the display screen 28. Displaying the predicted trailer backing path 18' of the trailer may include displaying the predicted location and direction of travel for wheel assemblies of the trailer 11.
- the predicted trailer backing path 18'may show the predicted track the wheel assemblies of the trailer 11 are about to drive, e.g. where the wheel assemblies of the trailer will drive for the next twenty feet from the current location.
- the display screen 28may overlay the predicted trailer backing path 18' on the intended backing path 18.
- the vehicle operatormay view the intended trailer backing path 18 compared to the predicted trailer backing path 18' and may adjust steering on a steering wheel for the vehicle 10 to correct the predicted trailer backing path 18' to match the intended trailer backing path 18.
- another method of controlling the vehicle and trailer assembly 12comprises obtaining an image for the current position of the vehicle and trailer assembly 12 from the GPS system 24 for the vehicle 11.
- the imageis displayed on the display screen 28 for the backing system 14.
- a location on the displayed image 28is selected to indicate the desired final position 20 for the vehicle and trailer assembly 12.
- the intended trailer backing path 18is determined with the trailer backing system 14 based upon the desired final position 20 of the vehicle and trailer assembly 12 and the predicted trailer backing path 18' of the trailer 11 is determined with the trailer backing system 14 based upon a steering angle of the vehicle 10 and an angle between the vehicle 10 and the trailer 11.
- the predicted trailer backing path 18' of the trailer 11 and the intended backing path 18 of the vehicle and trailer assembly 12are displayed on the display screen 28 to assist the operator in steering the vehicle 10.
- the display screen 128 of the electronic input device 116shows an image of the vehicle and trailer assembly 12.
- the imagemay be a captured by at least one camera 116' mounted to the vehicle 10 and/or the trailer 11 which shows an exterior rear view of the vehicle and trailer assembly 12.
- the trailer backing system 114may obtain data from the vehicle systems 24.
- the datamay include information regarding the vehicle and trailer assembly 12 including, but not limited to an instantaneous steering angle for the vehicle, a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer.
- a predicted trailer backing path 118'may be shown on the image on the display screen 28.
- the predicted trailer backing path 118'may show the predicted track the wheel assemblies of the trailer 11 are about to drive, e.g. where the wheel assemblies of the trailer 11 will drive for the next twenty feet from the current location.
- the vehicle operatormay use the predicted trailer backing path 18' and may adjust steering on a steering wheel for the vehicle 10 to correct the predicted trailer backing path 118' to direct the vehicle and trailer assembly 12 toward a desired final position 120.
- a predicted vehicle path 130may also be shown on the display screen 128.
- thismay assist the vehicle operator in understanding and controlling an actual backing position of the vehicle and trailer assembly 12.
- the predicted trailer backing path 118' illustrated in Figure 3shows that the trailer 11 is headed off of the road. The vehicle operator may adjust the steering of the vehicle 10 to direct the trailer 11 in the desired direction.
- the display screen 128will shown the adjustments by updating the predicted trailer backing path 118' and vehicle backing path 130.
- a method of controlling the vehicle and trailer assembly 12 according to the backing system 114 of Figure 3comprises obtaining an image for a current position of the vehicle and trailer assembly 12 from of the camera 116' mounted to one of the vehicle 10 and the trailer 11 for the vehicle and trailer assembly 12. The image is displayed on the display screen 128 for the trailer backing system 114.
- a predicted trailer backing path 118' of the trailer 11is determined with the trailer backing system 114 based upon a steering angle of the vehicle 10 and an angle between the vehicle 10 and the trailer 128 to assist the operator in steering the vehicle and trailer assembly 12.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
- The present disclosure relates to automotive vehicles and more particularly to advance driver assistance programs for automotive vehicles.
- Backing of trailers attached to vehicles often requires multiple persons to effectively control the vehicle and direct the path the vehicle and trailer are required to travel. Additionally, those unaccustomed to operating vehicle and trailer systems may have some difficulty in accurately controlling the path of the trailer, particularly when backing the vehicle and trailer.
- The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.
- A method of controlling a vehicle and trailer assembly comprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly. The image is displayed on a display screen for the backing system. A location on the displayed image is selected to indicate a desired final position for the vehicle and trailer assembly. An intended backing path of the trailer is determined with the trailer backing system based upon the desired final position of the vehicle and trailer assembly and a predicted backing path of the trailer is determined with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer. The predicted backing path of the trailer and the intended backing path of the trailer are displayed on the display screen to assist the operator in steering the vehicle.
- A method of controlling a vehicle and trailer assembly comprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly. The image is displayed on a display screen for the trailer backing system. A location on the displayed image is selected to indicate a desired final position for the vehicle and trailer assembly. An intended backing path is determined with the trailer backing system based upon the desired final position of the vehicle and trailer assembly. The backing path of the trailer is displayed on the display screen.
- A method of controlling a vehicle and trailer assembly comprises obtaining an image for a current position of the vehicle and trailer assembly from of a camera mounted to one of a vehicle and a trailer for the vehicle and trailer assembly. The image is displayed on a display screen for the backing system. A predicted backing path of the trailer is determined with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer. The predicted backing path of the trailer is displayed on the display screen to assist the operator in steering the vehicle.
- Further areas of applicability of the present disclosure will become apparent from the detailed description provided hereinafter. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.
- The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein:
FIG. 1 is a schematic diagram of a trailer backing system of the present invention;FIG. 2 is a schematic illustration of the backing system for the vehicle and trailer ofFigure 1 ; andFIG. 3 is a schematic illustration of another embodiment of the backing system for the vehicle and trailer ofFigure 1 .- The following description is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses. For purposes of clarity, the same reference numbers will be used in the drawings to identify similar elements.
Figure 1 illustrates avehicle 10 and atrailer 11. Thetrailer 11 is controllably secured to thevehicle 10 to form a vehicle andtrailer assembly 12. The vehicle andtrailer assembly 12 utilizes a trailer backing system 14 of the present invention. The trailer backing system 14 provides the vehicle operator with an arrangement for defining atrailer 11backing path 18. The trailer backing system 14 utilizes thetrailer backing path 18 to control movement of vehicle andtrailer assembly 12 along thetrailer backing path 18 or to assist the driver in controlling movement while backing the vehicle andtrailer assembly 12. - Referring to
Figure 1 , anelectronic input device 16 is electronically connected to thevehicle 10 and the trailer backing system 14. Theinput device 16 may include at least one camera mounted to thevehicle 10 ortrailer 11, such as indicated by input device 16'. Alternatively, theinput device 16 may be a navigation or GPS unit for thevehicle 10. - The trailer backing system 14 includes a
control unit 22 within thevehicle 10. Thecontrol unit 22 may be connected to at least onevehicle system 24 such as a powertrain system, a steering system and/or a braking system to control and direct movement of the vehicle andtrailer assembly 12. Thecontrol unit 22 may send instructions to thevehicle systems 24 to move the vehicle andtrailer assembly 12 along thetrailer backing path 18 to a final location 20. The steering, braking, and other controls are calculated by thecontrol unit 22 based upon thetrailer backing path 18 input by the vehicle operator. Alternatively, thecontrol unit 22 may utilize data from thevehicle system 24 to predict the movement of the vehicle andtrailer assembly 12 while the vehicle operator controls the vehicle andtrailer assembly 12. - The
electronic input device 16 includes aninput control mechanism 26 and a display screen 28. Theelectronic input device 16 may be all or partially incorporated into thevehicle 10. Theelectronic input device 16 may include a control panel and touch screen already within thevehicle 10, e.g. part of a navigation system or entertainment unit. - The
input control mechanism 26 is used for inputting directions into the trailer backing system 14. For example, theinput control mechanism 26 may be a joystick, knob, slider device, physical buttons, or virtual "touch screen" buttons, which allows control of an "on screen"locator 40. The display screen 28 may illustrate an image of an area located behind the vehicle andtrailer assembly 12 obtained from the camera or GPS system. Theinput control mechanism 26 may be manipulated to move the "on screen"locator 40 on the display screen 28 to select a final vehicle position 20. - Referring to
Figures 1 and2 a first embodiment of the trailer backing system 14 is described for the vehicle andtrailer assembly 12. The display screen 28 of theelectronic input device 16 shows an image of the vehicle andtrailer assembly 12. The image may be a pre-captured overhead view of the location obtained by the GPS system based upon the current vehicle location. A schematic representation of the vehicle andtrailer assembly 12 can be shown on the display screen 28 over the image at the appropriate position to represent the current vehicle location. - A vehicle operator would use the
input control mechanism 26 to select a desired final position for the vehicle andtrailer assembly 12 on the image shown of the display screen 28. The backing system 14 may correlate the selected final position in the image to GPS coordinates that represent that location. An intendedtrailer backing path 18 can be calculated by using the GPS coordinates of the vehicle andtrailer assembly 12 current position and the final position 20. The intendedtrailer backing path 18 would include the suggested backing route and a final parking position 20. - Determining the intended
trailer backing path 18 may include having the trailer backing system 14 identify objects in the image that correspond to permanent obstacles in the area, or outlined driving areas, i.e. the edges of the road, driveway, parking lot, etc. The intendedtrailer backing path 18 may be plotted to avoid any obstacles and stay within outlined driving area. The operator may be able to adjust the intendedtrailer backing path 18 as necessary or further define any obstacles. - Once the intended
trailer backing path 18 is determined by the trailer backing system 14 the vehicle operator would instruct the trailer backing system 14 to follow the intendedtrailer backing path 18. The trailer backing system 14 would send instructions to thevehicle systems 24 to direct the vehicle andtrailer assembly 12 to move thetrailer 11 along the intendedtrailer backing path 18 to the final position 20. The backing system 14 may also further instruct at least onevehicle system 24 to direct the vehicle andtrailer assembly 12 to move thetrailer 11 along the intendedtrailer backing path 18 to the final vehicle andtrailer assembly 12 position. - A method of controlling a vehicle and
trailer assembly 12 comprises obtaining an image for the current position of the vehicle andtrailer assembly 12 from aGPS system 24 for the vehicle andtrailer assembly 12. The image is displayed on the display screen 28 for the trailer backing system 14. A location on the displayed image 28 is selected to indicate the desired final position 20 for the vehicle andtrailer assembly 12. The intendedtrailer backing path 18 is determined by the trailer backing system 14 based upon the desired final position 20 of the vehicle andtrailer assembly 12. The intendedtrailer backing path 18 is displayed on the display screen 28. - Alternately, the trailer backing system 14 may obtain data from the
vehicle systems 24. The data may include information regarding the vehicle andtrailer assembly 12 including, but not limited to an instantaneous steering angle for the vehicle, a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for thetrailer 11. Based upon this information a predictedtrailer backing path 18' may be shown on the image on the display screen 28. Displaying the predictedtrailer backing path 18' of the trailer may include displaying the predicted location and direction of travel for wheel assemblies of thetrailer 11. - That is, the predicted
trailer backing path 18' may show the predicted track the wheel assemblies of thetrailer 11 are about to drive, e.g. where the wheel assemblies of the trailer will drive for the next twenty feet from the current location. The display screen 28 may overlay the predictedtrailer backing path 18' on the intendedbacking path 18. Using the display screen 28 the vehicle operator may view the intendedtrailer backing path 18 compared to the predictedtrailer backing path 18' and may adjust steering on a steering wheel for thevehicle 10 to correct the predictedtrailer backing path 18' to match the intendedtrailer backing path 18. - Therefore, another method of controlling the vehicle and
trailer assembly 12 comprises obtaining an image for the current position of the vehicle andtrailer assembly 12 from theGPS system 24 for thevehicle 11. The image is displayed on the display screen 28 for the backing system 14. A location on the displayed image 28 is selected to indicate the desired final position 20 for the vehicle andtrailer assembly 12. The intendedtrailer backing path 18 is determined with the trailer backing system 14 based upon the desired final position 20 of the vehicle andtrailer assembly 12 and the predictedtrailer backing path 18' of thetrailer 11 is determined with the trailer backing system 14 based upon a steering angle of thevehicle 10 and an angle between thevehicle 10 and thetrailer 11. The predictedtrailer backing path 18' of thetrailer 11 and the intendedbacking path 18 of the vehicle andtrailer assembly 12 are displayed on the display screen 28 to assist the operator in steering thevehicle 10. - Referring to
Figures 1 and3 another embodiment of the backing system 114 is described for the vehicle andtrailer assembly 12. The display screen 128 of theelectronic input device 116 shows an image of the vehicle andtrailer assembly 12. The image may be a captured by at least one camera 116' mounted to thevehicle 10 and/or thetrailer 11 which shows an exterior rear view of the vehicle andtrailer assembly 12. - The trailer backing system 114 may obtain data from the
vehicle systems 24. The data may include information regarding the vehicle andtrailer assembly 12 including, but not limited to an instantaneous steering angle for the vehicle, a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer. Based upon this information a predicted trailer backing path 118' may be shown on the image on the display screen 28. The predicted trailer backing path 118' may show the predicted track the wheel assemblies of thetrailer 11 are about to drive, e.g. where the wheel assemblies of thetrailer 11 will drive for the next twenty feet from the current location. - Using the
display screen 118 the vehicle operator may use the predictedtrailer backing path 18' and may adjust steering on a steering wheel for thevehicle 10 to correct the predicted trailer backing path 118' to direct the vehicle andtrailer assembly 12 toward a desired final position 120. - In addition to showing the predicted trailer backing path 118' of the trailer 11 a predicted
vehicle path 130 may also be shown on the display screen 128. By showing both the predictedvehicle path 130 and the predicted trailer backing path 118' this may assist the vehicle operator in understanding and controlling an actual backing position of the vehicle andtrailer assembly 12. For example, the predicted trailer backing path 118' illustrated inFigure 3 shows that thetrailer 11 is headed off of the road. The vehicle operator may adjust the steering of thevehicle 10 to direct thetrailer 11 in the desired direction. The display screen 128 will shown the adjustments by updating the predicted trailer backing path 118' andvehicle backing path 130. - A method of controlling the vehicle and
trailer assembly 12 according to the backing system 114 ofFigure 3 comprises obtaining an image for a current position of the vehicle andtrailer assembly 12 from of the camera 116' mounted to one of thevehicle 10 and thetrailer 11 for the vehicle andtrailer assembly 12. The image is displayed on the display screen 128 for the trailer backing system 114. A predicted trailer backing path 118' of thetrailer 11 is determined with the trailer backing system 114 based upon a steering angle of thevehicle 10 and an angle between thevehicle 10 and the trailer 128 to assist the operator in steering the vehicle andtrailer assembly 12. - While the best modes for carrying out the invention have been described in detail the true scope of the disclosure should not be so limited, since those familiar with the art to which this invention relates will recognize various alternative designs and embodiments for practicing the invention within the scope of the appended claims.
- 1. A method of controlling a vehicle and trailer assembly comprising:
- obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly;
- displaying the image on a display screen for a trailer backing system;
- selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;
- determining a intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly;
- determining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer; and
- displaying the predicted trailer backing path and the intended backing path of the trailer on the display screen to assist the operator in steering the vehicle.
- 2. The method of embodiment 1, wherein displaying the predicted trailer backing path of the trailer further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer.
- 3. The method of embodiment 1, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.
- 4. The method of embodiment 1, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system.
- 5. The method of embodiment 4, wherein the trailer data comprises at least one of: a length of a wheelbase of the trailer, a width of a wheelbase of the trailer, and a distance between an axle and a hitch for the trailer.
- 6. The method of embodiment 1, wherein further comprising displaying a predicted vehicle backing path on the display screen to assist the operator in steering the vehicle.
- 7. The method of embodiment 1, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path.
- 8. The method of embodiment 1, wherein determining the intended trailer backing path with the trailer backing system based further comprises the trailer backing system identifying possible obstacles in the image and plotting the intended trailer backing path to avoid the obstacles.
- 9. A method of controlling a vehicle and trailer assembly comprising:
- obtaining a current position and a corresponding image for the vehicle and trailer assembly from a GPS system;
- displaying the image on a display screen for a trailer backing system;
- selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;
- determining an intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly; and
- displaying the intended trailer backing path on the display screen.
- 10. The method of embodiment 9, further comprising instructing at least one vehicle system with the trailer backing system to direct the vehicle and trailer assembly along the intended trailer backing path to the final vehicle and trailer assembly position.
- 11. The method of embodiment 9, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path.
- 12. The method of embodiment 9, wherein determining the trailer backing path with the trailer backing system further comprises the trailer backing system identifying possible obstacles in the image and plotting the trailer backing path to avoid the obstacles.
- 13. A method of controlling a vehicle and trailer assembly comprising:
- obtaining an image for a current position of the vehicle and trailer assembly from of a camera mounted to one of a vehicle and a trailer for the vehicle and trailer assembly;
- displaying the image on a display screen for a trailer backing system;
- determining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer; and
- displaying the predicted trailer backing path on the display screen to assist the operator in steering the vehicle.
- 14. The method of embodiment 13, wherein displaying the predicted trailer backing path further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer.
- 15. The method of embodiment 13, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.
- 16. The method of embodiment 13, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system.
- 17. The method of
embodiment 16, wherein the trailer data comprises at least one of: a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer.
Claims (15)
- A method of controlling a vehicle and trailer assembly comprising:obtaining an image for a current position of the vehicle and trailer assembly for the vehicle and trailer assembly;displaying the image on a display screen for a trailer backing system;determining at least one trailer backing path with the trailer backing system; anddisplaying the at least one trailer backing path of the trailer on the display screen to assist the operator in steering the vehicle.
- The method of claim 1, further comprising:selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;wherein obtaining an image comprises obtaining an image for a current position of the vehicle and trailer assembly from a GPS system for the vehicle and trailer assembly;wherein determining at least one trailer backing path comprises:determining a intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly; anddetermining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer;wherein displaying the at least one trailer backing path comprises displaying the at least one predicted trailer backing path and the intended backing path of the trailer on the display screen to assist the operator in steering the vehicle.
- The method of claim 2, wherein displaying the predicted trailer backing path of the trailer further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer; and/or
wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle; and/or
wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system. - The method of claim 3, wherein the trailer data comprises at least one of:a length of a wheelbase of the trailer, a width of a wheelbase of the trailer, and a distance between an axle and a hitch for the trailer.
- The method of claim 2, further comprising displaying a predicted vehicle backing path on the display screen to assist the operator in steering the vehicle.
- The method of claim 2, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path.
- The method of claim 2, wherein determining the intended trailer backing path with the trailer backing system based further comprises the trailer backing system identifying possible obstacles in the image and plotting the intended trailer backing path to avoid the obstacles.
- The method of claim 1:wherein obtaining a current position comprises obtaining a current position and a corresponding image for the vehicle and trailer assembly from a GPS system; and further comprising:selecting a location on the displayed image to indicate a desired final position for the vehicle and trailer assembly;wherein determining at least one trailer backing path comprises determining an intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly; andwherein displaying the at least one trailer backing path comprises displaying the intended trailer backing path on the display screen.
- The method of claim 8, further comprising instructing at least one vehicle system with the trailer backing system to direct the vehicle and trailer assembly along the intended trailer backing path to the final vehicle and trailer assembly position.
- The method of claim 8, wherein determining the intended trailer backing path with the trailer backing system based upon the desired final position of the vehicle and trailer assembly further comprises obtaining GPS coordinates for the selected final position and comparing coordinates for the current vehicle position to the coordinates for the final position to determine the intended trailer backing path; and/or.
wherein determining the trailer backing path with the trailer backing system further comprises the trailer backing system identifying possible obstacles in the image and plotting the trailer backing path to avoid the obstacles. - The method of claim 1:wherein obtaining an image comprises obtaining an image for a current position of the vehicle and trailer assembly from of a camera mounted to one of a vehicle and a trailer for the vehicle and trailer assembly;wherein determining at least one trailer backing path comprises determining a predicted trailer backing path with the trailer backing system based upon a steering angle of the vehicle and an angle between the vehicle and the trailer; andwherein displaying the at least one trailer backing path comprises displaying the predicted trailer backing path on the display screen to assist the operator in steering the vehicle.
- The method of claim 11, wherein displaying the predicted trailer backing path further comprises displaying predicted location and direction of travel for wheel assemblies of the trailer.
- The method of claim 11, wherein determining a predicted trailer backing path based upon a steering angle of the vehicle further comprises using an instantaneous steering angle of the vehicle.
- The method of claim 11, wherein determining a predicted trailer backing path further comprises using trailer data input into the trailer backing system.
- The method of claim 14, wherein the trailer data comprises at least one of:a length of the trailer, a track width of the trailer, and a distance between an axle and a hitch for the trailer.
Applications Claiming Priority (1)
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| US13/331,598US9633566B2 (en) | 2011-12-20 | 2011-12-20 | Trailer backing path prediction using GPS and camera images |
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| EP2608186A2true EP2608186A2 (en) | 2013-06-26 |
| EP2608186A3 EP2608186A3 (en) | 2014-07-30 |
| EP2608186B1 EP2608186B1 (en) | 2019-08-28 |
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ID=47713774
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| Application Number | Title | Priority Date | Filing Date |
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| EP12198548.5AActiveEP2608186B1 (en) | 2011-12-20 | 2012-12-20 | Trailer backing path prediction using GPS and camera images |
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| Country | Link |
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| US (1) | US9633566B2 (en) |
| EP (1) | EP2608186B1 (en) |
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| EP2608186A3 (en) | 2014-07-30 |
| US9633566B2 (en) | 2017-04-25 |
| EP2608186B1 (en) | 2019-08-28 |
| US20130158863A1 (en) | 2013-06-20 |
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